EP1391086A2 - Method and device for preparing a time schedule for the transmission of messages to a bus system - Google Patents
Method and device for preparing a time schedule for the transmission of messages to a bus systemInfo
- Publication number
- EP1391086A2 EP1391086A2 EP02727226A EP02727226A EP1391086A2 EP 1391086 A2 EP1391086 A2 EP 1391086A2 EP 02727226 A EP02727226 A EP 02727226A EP 02727226 A EP02727226 A EP 02727226A EP 1391086 A2 EP1391086 A2 EP 1391086A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- schedule
- messages
- bus
- transmission
- bit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 title claims abstract description 22
- 230000002068 genetic effect Effects 0.000 claims abstract description 26
- 238000011156 evaluation Methods 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 10
- 230000002269 spontaneous effect Effects 0.000 claims description 8
- 230000000737 periodic effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 description 24
- 238000013459 approach Methods 0.000 description 23
- 230000035772 mutation Effects 0.000 description 17
- 230000008901 benefit Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 238000010845 search algorithm Methods 0.000 description 4
- 230000004083 survival effect Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 2
- 101100004286 Caenorhabditis elegans best-5 gene Proteins 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- JXSJBGJIGXNWCI-UHFFFAOYSA-N diethyl 2-[(dimethoxyphosphorothioyl)thio]succinate Chemical compound CCOC(=O)CC(SP(=S)(OC)OC)C(=O)OCC JXSJBGJIGXNWCI-UHFFFAOYSA-N 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 238000012248 genetic selection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
- H04L12/4015—Bus networks involving priority mechanisms by scheduling the transmission of messages at the communication node
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/407—Bus networks with decentralised control
- H04L12/413—Bus networks with decentralised control with random access, e.g. carrier-sense multiple-access with collision detection [CSMA-CD]
- H04L12/4135—Bus networks with decentralised control with random access, e.g. carrier-sense multiple-access with collision detection [CSMA-CD] using bit-wise arbitration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Definitions
- the invention relates to a method and a device as well as a computer program and a computer program product for creating a schedule for the transmission of messages on a bus system according to the preambles of the claims.
- This identifier or identification ID (message identifier) varies in length depending on the CAN version (eg 11 bits for Basic CAN).
- the CAN protocol is very flexible, adding additional nodes and messages is easily possible as long as there are still free priorities (especially message identifier).
- the collection of all messages with priorities to be sent in the network are stored in a list, the so-called communication matrix.
- the creation of the communication matrix is only the collection of all messages in the system. The order or sequence of the messages is often based on the many years of know-how of the application engineers and system designers. However, there are also tools that support this creation of the communication matrices.
- the positioning of the messages within the transmission periods must be coordinated with the applications that produce the message content in order to keep the latencies between the application and the time of transmission to a minimum. If this coordination is not carried out, the advantage of time-controlled transmission (minimal latency jitter when sending the message on the bus) would be destroyed. This places high demands on the planning tools.
- Timed communication must also be optimally supported or guaranteed in a TTCAN communication matrix or bus schedule or schedule for the transmission of the messages.
- the event-controlled messages or arbitrating time windows can only be taken into account in the second instance.
- the corresponding planning tools have to support both worlds of communication planning, so to speak.
- the present invention thus combines the advantages of the genetic algorithms specifically for search tasks over a large solution space with the requirements of the time-controlled communication system TTCAN, an optimal bus schedule, i.e. bus schedule or schedule for time-controlled, periodic messages and event-controlled, spontaneous messages according to TTCAN, before start-up to find.
- an optimal bus schedule i.e. bus schedule or schedule for time-controlled, periodic messages and event-controlled, spontaneous messages according to TTCAN, before start-up to find.
- the invention thus advantageously shows a method and a device as well as a computer program and a computer program product for creating a schedule for the transmission of messages on a bus system (bus schedule), the schedule being created by using a genetic algorithm.
- the messages are expediently divided into periodic and spontaneous messages, the messages being provided with an identifier or being provided in order to have them present in a coding suitable for genetic algorithms.
- the bus system is expediently a TTCAN bus system, time slots being provided for the messages and either the sequence of the time slots and / or the messages being shown as a schedule.
- the Schedules as a solution for the bus schedule are evaluated with at least one first predeterminable evaluation criterion, based on which an optimization of the schedules or a selection of the schedules is made possible.
- a useful first evaluation criterion is the comparison of the sum of the latency times of the at least one schedule with a predetermined value or the sum of the latent times of at least one other schedule.
- Another evaluation criterion at the same time or alternatively is the comparison of the sum of the deadlines, i.e. the necessary transmission times or the necessary transmission times of the messages, based on the schedules.
- the at least one possible schedule that is selected is advantageously crossed with at least one second schedule, in particular likewise a selected schedule, depending on the evaluation criteria.
- the schedules are crossed by exchanging at least one message from both schedules or, particularly advantageously, by exchanging at least one bit of the schedules, provided that they are represented in binary form, in particular by means of an identifier or an identifier, as a result of which a clear bit pattern of the message ( en) or the time window is included.
- the algorithm or the corresponding method can advantageously be implemented as a computer program are, so that when the same runs on a computer or the device according to the invention (which on the other hand can also be implemented entirely in hardware) the method according to the invention is carried out.
- This computer program can expediently also be present on a data carrier as a computer program product, the data carrier being available in any customary form.
- a TTCAN bus schedule is such a solution space.
- the mechanisms of evolution i.e. survival of the fittest, ensure that one moves towards an optimal solution very quickly.
- the mechanism of the cross reproduces, so to speak, particularly promising families.
- the mechanism of the mutation ensures that one is thrown out of the direction of evolution of the best solution by chance and / or arbitrary intervention and possibly finds another, optimal solution.
- this approach would have been found by conventional search algorithms only after an unacceptably long time.
- This new path may be promising, so that it will be followed up in the next step of the genetic algorithm, or it will fall out again via the first evaluation function. If a new solution is adopted, the information already available is passed on and not discarded due to the previously selected coding and the mechanism of the intersection (history).
- the invention is explained in more detail below with reference to the drawing shown with a figure.
- the figure shows a device in which the method according to the invention is shown symbolically.
- a bit pattern can in particular be used for coding, e.g. B. specifically the identifier from the controller area network CAN or from the TTCAN.
- the representation of the periodic and spontaneous messages of a TTCAN network in a coding suitable for genetic algorithms is, for example, also the coding of the parameter set, e.g. B. as a bit vector of n x m bits, where m bits encode the message ID, ie the message identifier or identifier, and n messages are present in the TTCAN network.
- the idea of the invention also includes a first assessment of the initial population, the strongest solutions to be found and these must be recognized as a yardstick for future populations. For this, at least one evaluation function or evaluation criterion must be created in order to filter the best solutions of a population, that is, the most promising schedules or bus schedules according to the evaluation criteria. Exemplary evaluation criteria or
- Evaluation functions are e.g. B. the evaluation according to the minimum sum of all latencies or the minimum sum for deadlines according to the "earliest deadline first" approach.
- so-called mutations can also be carried out in accordance with certain second evaluation criteria for some instances / solutions or all instances / solutions, so that mutations arise from the current population and may differ fundamentally from others.
- this in turn means that, for example, in the context of the TTCAN binary representation.
- B. a random generator is provided which tilts 1 bit from the nxm bits of the message bit vector, in particular with a CAN or TTCAN identifier.
- These mutations can be performed after a certain number of procedures, e.g. B. after the 5th or 10th time or randomly by random function. This means that the strongest or best solutions regarding the evaluation criteria are selected after each run, whereby some of the selected best solutions can be crossed again and the optional mutations release further proposed solutions.
- the essence of the invention is thus the solution to the search problem of an optimal bus schedule for the TTCAN using genetic algorithms.
- the invention is not limited to the specific coding of the messages for these genetic algorithms or specific evaluation functions and specific crossing or mutation functions shown in this exemplary embodiment.
- the single figure shows a system, in particular a device 100, in particular a computer or bus subscriber.
- the computer 100 can be designed separately or can be connected to a bus, in particular a TTCAN bus 101, as a bus subscriber.
- the computer 100 contains means which make it possible to run at least individual method steps of the method according to the invention in accordance with the claims.
- the execution of the method in the form of a computer program is particularly advantageous, which ultimately results in an optimized solution with regard to the bus schedule.
- the integration of the process for finding a solution in a development tool is shown.
- the choice of the evaluation function, the choice of the crossing function and the choice of the mutation function can be added individually by the system designer or application engineer as a module, or a system-inherent library of these functions can automatically be used to predefine or output a function.
- the development tool can therefore only include the creation of the bus schedule in accordance with the method of the genetic algorithms, which ensures that Depending on certain system requirements or specifications, for example by clients such as automobile manufacturers, different metrics, boundary conditions in processes can be used modularly with the same development tool.
- the flow diagram shown shows the start of the method in block 202.
- the coding of the bus messages takes place in block 103, for example by using an identifier in binary representation.
- the identifier of the TTCAN system or of the CAN corresponding to the messages can advantageously be used.
- This coding can already be specified and can only be optionally integrated into the method.
- various possible solutions are formed or represented in block 104. Messages and / or time windows can also appear more than once in the bus scheduler. These solution approaches to the search problem are therefore different sequences of the bus messages or time windows for bus messages, different bit patterns being available as solution approaches when presented in binary form, in particular with identifiers.
- bit patterns can be generated on the one hand by a random generator or can also be achieved by permutation, whereby all possibilities can be made available by permutation.
- Further criteria for the formation of solution approaches can be specific default criteria, such as time-critical messages first and the like, or based on the priorities of the identifiers with regard to the identifier, etc.
- it can already be checked here, for example using a library, that the creation of possible solution approaches regarding the schedule of the
- the solution approaches or the different time schedules are then evaluated, in particular in binary form, for example by stringing together the identifiers of the TTCAN.
- the solution approaches for example, all latency times of individual solution approaches are determined and these are compared either with one another or with a reference value, in order to determine the minimum sum of all latency times.
- Another assessment can be, for example, the minimum or minimum sum for deadlines, that is, the latest necessary transmission times or transmission times of the messages. Additional criteria for evaluating the solutions are also conceivable.
- the best solutions are then selected in block 106 in accordance with the solution approaches and the evaluation criterion or criteria.
- a predeterminable number of solutions are selected, for example the best 50% or the best 5 pieces, or it is compared to the selection of the best solutions against a threshold value with respect to the evaluation criteria or the evaluation criterion and only, for example with minimal sums, if this threshold is undershot, the solution is selected as a possible solution to be selected.
- intersection functions or intersection criteria are then specified in block 107 and the intersection is carried out. That means e.g. B. that especially random Exchange selected solutions, which have emerged from the selection in block 106, at least one bit at a predeterminable or randomly determined point k.
- a fixed specification of the crossing position for example every first, every second, every third or other defined positions, can also be specified. All solutions can be crossed, or just a few. The number of approaches to be crossed, i.e. bus schedules, can also be specified here.
- the intersection thus creates a pool of solutions or approaches in block 107, each solution representing a bus schedule or a schedule for transmitting the messages to the bus.
- query 108 checks whether a mutation should be carried out in block 109 or not. These criteria can be, on the one hand, that a certain number of process runs lead to a mutation or that a mutation is triggered by a random number generator. If a mutation is initiated, block 109 is reached. At least one of the solution approaches, that is to say a bus schedule, is copied therein, in particular as a bit vector or bit pattern, and the latter is mutated, for example by changing at least one bit, in particular by bit flipping then to be added back to the solution pool. If no mutation is to be carried out or after the mutation has been carried out, block 108 or block 109 leads to block 110. It checks whether another run should be carried out.
- This block 110 can optionally also be provided after block 106, that is after selecting the best solutions after the evaluation in block 105. If the termination criterion in block 110 is met, the method ends in block 111 or again in block 105 for evaluating the existing solution approaches, that is to say the individual bus schedules from the solution pool.
- a suitable representation of the parameters ie the parameter set, in particular here the TTCAN messages, e.g. B. as a bit vector, which represents a solution variant
- the TTCAN messages e.g. B.
- This form of representation has been optimized for the subsequent run of the electronic, modeled genetic evolution.
- An evaluation function can be easily created from the boundary conditions of the application in order to evaluate the current solution population.
- this evaluation function F can be created according to the "earliest deadline first" or "shortest latency time” etc.
- the existing solutions current population would then be evaluated using this evaluation function and the strongest or best would be used for the next iteration, e.g.
- the first four solutions with the shortest deadline if "earliest deadline first" was rated. From these strongest or best solutions, two solutions could be taken out and crossed with each other, e.g. at point k. Two new ones are created Solutions that are may prove even better due to the origin (the next rating shows).
- the algorithm is free to edit the current population via mutation.
- the approach of the genetic algorithm can in principle be built into any TTCAN planning tool with suitable interfaces.
- the number for coding the messages for a suitable crossing function and for a suitable mutation function must of course be found.
- an evaluation function based on a specific metric or individual boundary conditions must also be implemented.
- This specification can either be built into the development tool or offered as add-ons that are added modularly when designing a TTCAN network. In principle, with this approach, only the process of searching for genetic algorithms would have to be implemented in the TTCAN development tool.
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Calculators And Similar Devices (AREA)
- Bus Control (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10112906 | 2001-03-15 | ||
DE10112906 | 2001-03-15 | ||
PCT/DE2002/000917 WO2002076032A2 (en) | 2001-03-15 | 2002-03-14 | Method and device for preparing a time schedule for the transmission of messages to a bus system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1391086A2 true EP1391086A2 (en) | 2004-02-25 |
EP1391086B1 EP1391086B1 (en) | 2005-12-14 |
Family
ID=7677836
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP02727226A Expired - Lifetime EP1391086B1 (en) | 2001-03-15 | 2002-03-14 | Method and device for preparing a time schedule for the transmission of messages to a bus system |
Country Status (6)
Country | Link |
---|---|
US (1) | US7949811B2 (en) |
EP (1) | EP1391086B1 (en) |
AU (1) | AU2002257527A1 (en) |
DE (3) | DE10211517A1 (en) |
ES (1) | ES2254674T3 (en) |
WO (1) | WO2002076032A2 (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE524201C2 (en) | 2002-12-17 | 2004-07-06 | Lars-Berno Fredriksson | Device for distributed control and monitoring system |
AT501480B8 (en) * | 2004-09-15 | 2007-02-15 | Tttech Computertechnik Ag | METHOD FOR CREATING COMMUNICATION PLANS FOR A DISTRIBUTED REAL-TIME COMPUTER SYSTEM |
DE102006010400B4 (en) | 2006-03-03 | 2023-04-13 | Dspace Gmbh | Method for creating an optimized schedule for a time-triggered distributed computer system |
JP5435241B2 (en) * | 2007-04-16 | 2014-03-05 | エスティー‐エリクソン、ソシエテ、アノニム | Data storage method, data load method, and signal processor |
DE102007051657A1 (en) * | 2007-10-26 | 2009-04-30 | Robert Bosch Gmbh | Communication system with a CAN bus and method for operating such a communication system |
DE102011085764A1 (en) * | 2011-11-04 | 2013-05-08 | Robert Bosch Gmbh | Method for operating a bus arrangement |
US9954892B2 (en) * | 2015-09-28 | 2018-04-24 | Nxp B.V. | Controller area network (CAN) device and method for controlling CAN traffic |
US10361934B2 (en) | 2015-09-28 | 2019-07-23 | Nxp B.V. | Controller area network (CAN) device and method for controlling CAN traffic |
CN105205536B (en) * | 2015-11-06 | 2017-11-10 | 天津津航计算技术研究所 | 1553B bus message transmission optimization methods based on genetic algorithm |
US9917667B2 (en) | 2015-12-21 | 2018-03-13 | Hamilton Sundstrand Corporation | Host-to-host test scheme for periodic parameters transmission in synchronized TTP systems |
US20180032964A1 (en) * | 2016-08-01 | 2018-02-01 | Nec Europe Ltd. | Transportation system and method for allocating frequencies of transit services therein |
JP7114515B2 (en) * | 2019-03-14 | 2022-08-08 | 国立大学法人東海国立大学機構 | Communication device, communication system and message arbitration method |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5319781A (en) * | 1991-05-03 | 1994-06-07 | Bolt Beranek And Newman Inc. | Generation of schedules using a genetic procedure |
US6633854B1 (en) * | 1999-11-05 | 2003-10-14 | Genuity Inc. | System and method for analyzing genertic algorithms |
DE10000304B4 (en) * | 2000-01-05 | 2011-09-15 | Robert Bosch Gmbh | Method and device for exchanging data between at least two subscribers connected to a bus system |
DE10000303B4 (en) * | 2000-01-05 | 2011-09-29 | Robert Bosch Gmbh | Method and device for exchanging data between at least two subscribers connected to a bus system |
DE10000305B4 (en) * | 2000-01-05 | 2011-08-11 | Robert Bosch GmbH, 70469 | Method and device for exchanging data between at least two subscribers connected to a bus system |
DE10000302B4 (en) | 2000-01-05 | 2011-08-11 | Robert Bosch GmbH, 70469 | Method and device for exchanging data between at least two subscribers connected to a bus system |
-
2002
- 2002-03-14 DE DE10211517A patent/DE10211517A1/en not_active Withdrawn
- 2002-03-14 DE DE10291153T patent/DE10291153D2/en not_active Expired - Fee Related
- 2002-03-14 DE DE50205287T patent/DE50205287D1/en not_active Expired - Lifetime
- 2002-03-14 EP EP02727226A patent/EP1391086B1/en not_active Expired - Lifetime
- 2002-03-14 WO PCT/DE2002/000917 patent/WO2002076032A2/en not_active Application Discontinuation
- 2002-03-14 ES ES02727226T patent/ES2254674T3/en not_active Expired - Lifetime
- 2002-03-14 US US10/471,909 patent/US7949811B2/en not_active Expired - Fee Related
- 2002-03-14 AU AU2002257527A patent/AU2002257527A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO02076032A2 * |
Also Published As
Publication number | Publication date |
---|---|
WO2002076032A3 (en) | 2003-11-13 |
US20040153682A1 (en) | 2004-08-05 |
WO2002076032A2 (en) | 2002-09-26 |
AU2002257527A1 (en) | 2002-10-03 |
DE10211517A1 (en) | 2002-09-26 |
DE10291153D2 (en) | 2004-04-15 |
ES2254674T3 (en) | 2006-06-16 |
US7949811B2 (en) | 2011-05-24 |
EP1391086B1 (en) | 2005-12-14 |
DE50205287D1 (en) | 2006-01-19 |
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